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https://github.com/wpilibsuite/allwpilib
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59 lines
2.1 KiB
C++
59 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <simulation/gz_msgs/msgs.h>
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#include <gazebo/gazebo.hh>
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using namespace gazebo;
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/**
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* \brief Plugin for reading the angle of a joint.
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*
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* This plugin publishes the angle of a joint to the topic every
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* physics update. Supports reading in either radians or degrees.
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*
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* To add a potentiometer to your robot, add the following XML to your
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* robot model:
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*
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* <plugin name="my_pot" filename="libpotentiometer.so">
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* <joint>Joint Name</joint>
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* <topic>~/my/topic</topic>
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* <units>{degrees, radians}</units>
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* </plugin>
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*
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* - `joint`: Name of the joint this potentiometer is attached to.
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* - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
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* - `units`: Optional. Defaults to radians.
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*/
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class Potentiometer : public ModelPlugin {
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public:
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/// \brief Load the potentiometer and configures it according to the sdf.
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void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
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/// \brief Sends out the potentiometer reading each timestep.
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void Update(const common::UpdateInfo& info);
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private:
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/// \brief Publish the angle on this topic.
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std::string topic;
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/// \brief Whether or not this potentiometer measures radians or degrees.
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bool radians;
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/// \brief The joint that this potentiometer measures
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physics::JointPtr joint;
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physics::ModelPtr model; ///< \brief The model that this is attached to.
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event::ConnectionPtr
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updateConn; ///< \brief Pointer to the world update function.
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transport::NodePtr node; ///< \brief The node we're advertising on.
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transport::PublisherPtr pub; ///< \brief Publisher handle.
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};
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